JP2006307429A - Lift arm device of working vehicle, and working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lift arm device of a working vehicle, which enables a leading end of a lift arm to be moved on a free locus. <P>SOLUTION: A skid-steering loader 1 as the working vehicle is equipped with the lift arm 11 whose leading end is fitted with a bucket 7, a first cylinder 21, and a second cylinder 22. The side of one end of each of the cylinders 21 and 22 is connected to the lift arm 11, and the side of the other end is connected to a vehicle-side frame 2. A valve for controlling the supply of a pressure fluid to the two cylinders 21 and 22 is controlled depending on the operation of a control lever. Consequently, the free movement locus of the leading end of the lift arm 11 can be drawn as illustrated by a heavy line in the selected figure. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a technique for raising and lowering a lift arm having a work tool such as a bucket attached to a tip in a work vehicle such as a skid steer loader.

  In Patent Document 1, in a configuration of a skid steer loader (skid steer loader), when a conventional loader boom mounted on a loader frame is moved up and down by a single pivot, its outer tip moves in an arc. As a result, it is pointed out that the operating distance (reach) of the boom assembly forward to the bucket tends to be shortened in the raised position.

  And in patent document 1, in order to eliminate such a problem, the following structures are disclosed. A main lift arm portion having a bucket attached to the tip is connected to a main frame of the vehicle via two links (a rear lift arm link and a fixed link) and an actuator. Each of the two links and the actuator is coupled to each other using a pin at one end thereof on the main lift arm portion side and the other end on the vehicle main frame side. According to Patent Document 1, this configuration makes it possible to obtain a longer reach in the upper part of the operation track of the main lift arm portion, and to easily unload the truck and stack it at a higher position.

In Patent Document 2, in the lift truck, the base end of the boom is not directly supported by the vehicle-side frame, but is supported by a support provided so as to be movable in the front-rear and horizontal directions with respect to the frame. The structure which displaces a flame | frame with the other cylinder when raising / lowering a boom with a cylinder is disclosed. As a result, the front end of the boom moves along an almost vertical path, and the load capacity can be improved. In each of the two cylinders, one end is pivotally supported on the frame, and the other end is pivotally supported on the boom or the support.
Japanese Patent No. 3133793 (paragraph numbers 0004, 0009, 0022, FIG. 4, etc., main lift arm 30, rear lift arm link 32, fixed link 66, actuator 58) US Pat. No. 6,705,826 (FIG. 5, boom 3, support 5, cylinder 7, cylinder 8)

  Although the configuration of the above-mentioned Patent Document 1 can certainly increase the reach amount at the lift arm lift position, there is no degree of freedom in the movement trajectory of the lift arm. Significant modifications were required. Therefore, it has been difficult to cope with various usage modes of the work vehicle.

  Further, the configuration of Patent Document 2 is exemplified in FIG. 6 to FIG. 10 of Patent Document 2, in which the driving of the cylinder for displacing the support is illustrated according to the amount by which the boom is lifted by the other cylinder. Therefore, it has been difficult to provide freedom in the movement trajectory of the lift arm.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  ◆ According to a first aspect of the present invention, there is provided a lift arm device in a work vehicle configured as follows. A lift arm to which a work tool is attached at the tip, a first cylinder and a second cylinder each having one end connected to the lift arm and the other end connected to the vehicle, and the first cylinder and the second cylinder A valve for controlling the supply of the pressure fluid; and an operating means for operating the valve.

  Thereby, the tip of the lift arm, and thus the working tool can be moved with a free trajectory, and a highly versatile lift arm device applicable to a wide range of applications can be provided.

  The lift arm device in the work vehicle is preferably configured as follows. A detector capable of detecting a state quantity for determining the position of the work tool, and a position corresponding to the operation direction of the operation means obtained by calculating the position of the work tool based on the state quantity detected by the detector And a control device for controlling the valve so as to move the working tool.

  As a result, the control device controls the two cylinders so as to move the work tool in a direction corresponding to the operation direction of the operation means. Therefore, the work tool can be moved in a desired direction with a simple operation without requiring skill. Can be moved.

  In the lift arm device in the work vehicle, it is preferable that the control device controls the valve so as to move the work tool at a speed corresponding to an operation amount of the operation means.

  As a result, the work tool can be easily moved at a moving speed desired by the operator, so that the efficiency of work using the work tool can be improved.

  In the lift arm device in the work vehicle, the operating means is provided as a single unit, and it is possible to simultaneously extend or retract both the first cylinder and the second cylinder by operating the operating means. Preferably there is.

  Thereby, the expansion / retraction operation of the two cylinders can be controlled by a simple operation by a single operation means, and the work tool can be moved variously. That is, it is possible to improve the operation operability of the work tool.

  The lift arm device in the work vehicle is preferably configured as follows. A second detector for detecting the angle of the work tool, a work tool cylinder capable of changing the angle of the work tool, and an angle control valve for controlling supply of pressure fluid to the work tool cylinder. When the position of the work tool is changed by the operation means, the control device controls the work tool cylinder so that the ground angle of the work tool is held constant based on the detection value of the second detector. Control automatically.

  Thereby, even if the work tool is moved to various positions as described above, so-called ground angle holding control of the work tool can be realized.

  ◆ According to the second aspect of the present invention, a work vehicle including the aforementioned lift arm device is provided.

  Thereby, it can be set as the work vehicle excellent in versatility which can move a work tool with a free locus | trajectory.

[First Embodiment]
Next, embodiments of the invention will be described. FIG. 1 is an overall side view of the skid steer loader according to the first embodiment, and FIG. 2 is a diagram showing the configuration of the lifting operation of the lift arm in the first embodiment.

  In FIG. 1, a skid steer loader 1 as a work vehicle suspends a front wheel 3 and a rear wheel 4 on a frame-like frame 2, and the front wheel 3 and the rear wheel 4 are mounted by an engine (not shown) provided in the frame 2. It can be driven. An unillustrated cabin for accommodating an operator's driver's seat is fixed at the front part of the frame 2, and an unillustrated counterweight and the engine are disposed at the rear part.

  The skid steer loader 1 includes a lift arm 11 that can be moved up and down. A bucket (working tool) 7 is rotatably provided at the tip of the lift arm 11 via a pin 38. A dump cylinder (work tool cylinder) 8 is attached to the tip end side of the lift arm 11 for changing the angle of the bucket 7 by rotating it around the pin 38. The lift arm 11 can be raised and lowered by the configuration of the lifting device 10 described below. FIG. 1 shows a state in which the lift arm 11 is raised to a position on the upper middle level.

  A lower end of a connecting rod (rear link) 23 is rotatably connected to a rear end portion of the frame 2 of the skid steer loader 1 via a pin 31. On the other hand, the upper end of the connecting rod 23 is rotatably connected to the most proximal end portion of the lift arm 11 via a pin 33.

  Further, the end of the first cylinder 21 on the cylinder side is rotatably connected to the frame 2 via a pin 34. On the other hand, the end of the first cylinder 21 on the movable rod side is rotatably connected to a counter arm portion 11 a in the vicinity of the base end portion of the lift arm 11 via a pin 35.

  Further, an end portion of the second cylinder 22 on the cylinder portion side is rotatably connected to a lower portion of the rear portion of the frame 2 via a pin 36. On the other hand, the end of the second cylinder 22 on the movable rod side is rotatably connected to the base end side portion of the lift arm 11 via a pin 37.

  The lift arm 11, the first cylinder 21, the second cylinder 22, the connecting rod 23 and the like described above are provided in a pair on the left and right sides of the vehicle body. Therefore, although the right side view of the skid steer loader 1 of the present embodiment is not shown, it appears almost symmetrically with the left side view of FIG. In the present embodiment, the lift arm device includes at least a lift arm 11, a first cylinder 21, a second cylinder 22, and a connecting rod 23.

  Next, the structure for the raising / lowering operation of the raising / lowering apparatus 10 of the said lift arm 11 is demonstrated with reference to FIG.

  The first cylinder 21 and the second cylinder 22 are fluid pressure cylinders, specifically hydraulic cylinders. The cylinders 21 and 22 are connected to an appropriate hydraulic source (for example, an oil pump (not shown) coupled to the engine) via control valves 41 and 42. The control valves 41 and 42 control supply and discharge of pressure oil (pressure fluid) to the cylinders 21 and 22, respectively.

  Further, the skid steer loader 1 of the present embodiment has two operation levers (operation means) 61 and 62 for changing the position of the bucket 7 through the opening and closing operation of the control valves 41 and 42 in the cabin of the unillustrated. It has. Each of these operation levers 61 and 62 is configured as a center return type two-way lever, for example, and is mechanically or electrically connected to the control valves 41 and 42.

  With the above configuration, when an operator seated in the driver's seat tilts one of the two operation levers 61 to one side, the control valve 41 on one side supplies pressure oil to the first cylinder 21. Since the first cylinder 21 is supplied, the first cylinder 21 extends. When the operation lever 61 is tilted to the other side, the first cylinder 21 is retracted. When the other operation lever 62 is tilted to one side, the control valve 42 on the other side supplies pressure oil to the second cylinder 22, so that the second cylinder 22 extends. When the operating lever 62 is tilted to the other side, the second cylinder 22 is retracted.

  Therefore, when the operator grasps the operation lever 61 on one side with the left hand and operates the other operation lever 62 with the right hand at the same time and appropriately operates it, the tip of the lift arm 11 (illustrated by a thick arrow in FIG. Various movement trajectories of the bucket 7) are possible. That is, the bucket 7 can be moved along a free trajectory such as an oblique direction and a horizontal front-rear direction as well as a conventional arc-shaped trajectory and a vertical trajectory.

  Thus, in the lift arm device of the present embodiment, the tip of the lift arm 11 can be moved with a free trajectory by a combination of operations of the operation levers 61 and 62 (a combination of expansion and contraction operations of the two cylinders 21 and 22). For example, it is possible to carry out the cargo handling work by freely moving the bucket 7 in accordance with the operator's preference, the contents of work, the presence of obstacles, and the like, which is extremely convenient. That is, the skid steer loader 1 that can be applied to a wide range of uses and has high versatility can be provided.

  In the configuration of FIG. 2, the control valves 41 and 42 are configured as electromagnetic valves, and a controller is further disposed between the operation levers 61 and 62 and the control valves 41 and 42. The controller 7 may be configured to move the bucket 7 by sending an electric signal to the corresponding control valves 41 and 42 according to the input operation direction and operation amount.

[Second Embodiment]
Next, the skid steer loader 1 of 2nd Embodiment is demonstrated based on FIG.3 and FIG.4. In addition, about the structure similar to 1st Embodiment, the code | symbol same as the said 1st Embodiment is attached | subjected and description is abbreviate | omitted. FIG. 3 is an overall side view of the skid steer loader according to the second embodiment, and FIG. 4 is a view showing the configuration of the lifting operation of the lift arm in the second embodiment.

  That is, in the skid steer loader 1 of the second embodiment in FIG. 3, a first relative angle detector (detector) 51 is attached to the base end portion of the lift arm 11. In the present embodiment, the first relative angle detector 51 is a potentiometer, and is configured to detect the relative angle between the connecting rod 23 and the lift arm 11. The first relative angle detector 51 is electrically connected to a controller 45 described later.

  A second relative angle detector (detector) 52 is attached at an appropriate position of the connecting rod 23. The second relative angle detector 52 is also configured as a potentiometer so that the relative angle between the connecting rod 23 and the frame 2 can be detected. The second relative angle detector 52 is also electrically connected to a controller 45 described later.

  4, the skid steer loader 1 according to the present embodiment includes a controller (control means) 45 for controlling the two control valves 41 and 42 described above. The controller 45 is configured in a known microcomputer type, and includes a CPU as a calculation means and a ROM and RAM as storage means. In the present embodiment, the control valves 41 and 42 are configured as electromagnetic valves.

  In FIG. 4, unlike the operation levers 61 and 62 of the first embodiment described above, the operation lever 63 is configured to be operated by being tilted in any direction of 360 °, and the tilt angle (operation amount) ) Can be detected with an analog lever. In this embodiment, the operation lever 63 is provided as a single unit and is electrically connected to the controller 45.

  With the above configuration, the controller 45 determines the current position of the tip of the lift arm 11 (current position of the bucket 7) based on the two relative angles (state quantities) detected by the two relative angle detectors 51 and 52. Find by calculation. Further, the target position of the tip (bucket 7) of the lift arm 11 is calculated and obtained according to the direction and amount of operation of the operation lever 63, and the two positions for realizing the target position are calculated. The expansion amount of the cylinders 21 and 22 is calculated and obtained. Then, the controller 45 sends a signal to the control valves 41 and 42 to perform the opening / closing operation so as to change the position of the bucket 7 so that the respective cylinders 21 and 22 have the calculated extension amounts.

  Thereby, for example, if the operator tilts the operation lever 63 forward, the bucket 7 rises, if it falls to the back, the bucket 7 moves downward, if it falls to the left, the bucket 7 moves forward, and if it falls right, it moves backward. Thus, the bucket 7 can be freely moved by a simple operation. Further, since the tip of the lift arm 11 (bucket 7) can be moved in the direction corresponding to the operation direction of the operation lever 63 by the calculation of the controller 45, the control valves 41 and 42 are directly operated by the operation levers 61 and 62. Compared with the first embodiment, skill is not required for operation, and simpler and more intuitive operation is possible.

  Further, by changing the direction in which the operation lever 63 is tilted, such as when the operator tilts the operation lever 63 forward to the left, the bucket 7 rises diagonally forward, an operation with a high degree of freedom becomes possible. Furthermore, since the operation lever 63 is configured in an analog manner, it is possible to control the bucket 7 to move slowly when the operation lever 63 is tilted slightly, and to move quickly when the operation lever 63 is largely tilted. Can be improved. The operation method described above is an example, and it is needless to say that the operation method for moving the bucket 7 back and forth and up and down can be arbitrarily set.

  In particular, in this embodiment, the operating means for moving the bucket 7 at the tip of the lift arm 11 is a single operating lever 63. The controller 45 that detects the operation of the operation lever 63 extends the two cylinders 21 and 22 at the same time, or extends the first cylinder 21 and the second cylinder at the same time, depending on the operation direction. Control 22 performs degeneration. Therefore, the expansion / retraction operation of the two cylinders 21 and 22 can be controlled by a simple operation using the single operation lever 63, and the bucket 7 can be moved variously. That is, the operability of moving the bucket 7 can be improved.

  The operation lever 63 is not necessarily operable in any direction of 360 °, and may be, for example, an 8-direction lever.

[Third Embodiment]
Next, the skid steer loader 1 of 3rd Embodiment is demonstrated based on FIG.5 and FIG.6. In addition, about the structure similar to 2nd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. FIG. 5 is an overall side view of the skid steer loader according to the third embodiment, and FIG. 6 is a diagram showing the configuration of the lifting and lowering operation of the lift arm in the third embodiment.

  As shown in FIG. 5, the skid steer loader 1 of the third embodiment has a bucket-to-ground angle detector for detecting the ground angle at an appropriate position of the bucket 7 in addition to the configuration of the second embodiment. A (second detector) 55 is attached. Various configurations of the bucket-to-ground angle detector 55 are conceivable. For example, a combination of a weight that is rotatably supported by its own weight so as to be directed vertically downward, and a potentiometer that detects the angle of the weight. Can be adopted.

  The bucket-to-ground angle detector 55 is electrically connected to the controller 45 as shown in FIG. The controller 45 controls the dump cylinder 8 that rotates the bucket 7 by sending a signal to a dump control valve (angle control valve) 43 as an electromagnetic valve that controls the supply and discharge of pressure oil. It is configured as follows.

  A dump operation lever 64 is provided on the operator's driving seat in order to operate the dump cylinder 8. The dump operation lever 64 is electrically connected to the controller 45.

  The controller 45 of the present embodiment can change the angle of the bucket 7 by controlling the dump control valve 43 in accordance with the operation of the dump operation lever 64. When the bucket 7 is moved back and forth as described above by operating the operation lever 63, the controller 45 performs dumping so that the ground angle of the bucket 7 detected by the bucket ground angle detector 55 is kept constant. The dump cylinder 8 is automatically controlled via the control valve 43. Thereby, even if the bucket 7 is moved to various positions, so-called leveling control (ground angle holding control) of the bucket 7 can be realized, and so-called leveling valves that have been conventionally required can be eliminated. Moreover, the accuracy of leveling control can be improved as compared with the conventional case.

  In this embodiment, the bucket ground angle detector 55 is configured to directly detect the ground angle, but instead of this configuration, for example, a simple potentiometer that detects the relative angle with the lift arm 11 may be installed. . In this case, the controller 45 calculates the ground angle of the bucket 7 based on the detection values of the relative angle detectors 51 and 52 and the detection value of the potentiometer, and sets the dump control valve 43 so that the ground angle is constant. The dump cylinder 8 may be configured to be controlled via

  A plurality of preferred embodiments of the present invention have been described above, but the above embodiments can be modified as follows, for example.

  (1) In the second and third embodiments, the first relative angle detector 51 described above detects the relative angle between the connecting rod 23 and the lift arm 11, and the second relative angle detector 52 includes the connecting rod 23 and the frame. However, instead of this, the relative angle between the respective cylinders 21 and 22 and the lift arm 11 may be detected, or the respective cylinders 21 and 22 may be detected. And a relative angle between the frame 2 and the frame 2 may be detected. Furthermore, instead of the relative angle detectors 51 and 52 described above, two length detectors for detecting the extension amounts of the cylinders 21 and 22 may be provided. Further, the length detector and the relative angle detector may be combined one by one. In short, based on this, a state quantity that can determine the position of the tip of the lift arm 11 (bucket 7) is detected by a detector, and the controller 45 calculates the position of the bucket 7 based on the detected value. What is necessary is just to be comprised.

  (2) Further, the bucket-to-ground angle detector 55 and the dump control valve 43 of the third embodiment can be combined with the first embodiment.

  (3) The means for moving the bucket 7 is not limited to the lever as exemplified above, and a pedal type or other type can be adopted.

  (4) The working tool is not limited to the illustrated bucket 7, and for example, a fork or the like can be employed. The work tool may be detachably attached to the tip of the lift arm 11.

  (5) The direction and arrangement position of the first cylinder 21, the second cylinder 22, and the connecting rod 23 shown in the above embodiment can be appropriately changed according to the locus of the lift arm 11 tip to be realized and the lift amount. Needless to say. Further, the connecting rod 23 can be omitted by restraining one of the first cylinder 21 and the second cylinder 22 so as not to change the angle.

  (6) The connection method of the first cylinder 21, the connecting rod 23, and the second cylinder 22 to the frame 2 and the lift arm 11 is not limited to the connection by pins. Further, the lift arm 11, the two cylinders 21 and 22, and the lift arm 11 are not limited to the left and right pairs of the vehicle, and two or more pairs may be provided, for example.

  (7) Although the skid steer loader has been exemplified in the above embodiment, the present invention is not limited to this, and the present invention can be applied to all work vehicles including lift arms that can be raised and lowered.

1 is an overall side view of a skid steer loader according to a first embodiment. The figure which shows the structure of the raising / lowering operation of the lift arm in 1st Embodiment. The whole side view of the skid steer loader concerning a 2nd embodiment. The figure which shows the structure of the raising / lowering operation of the lift arm in 2nd Embodiment. The whole side view of the skid steer loader concerning a 3rd embodiment. The figure which shows the structure of the raising / lowering operation of the lift arm in 3rd Embodiment.

Explanation of symbols

1 Skid steer loader (work vehicle)
2 Frame 3 Front wheel 4 Rear wheel 7 Bucket (work implement)
8 Dump cylinder (work implement cylinder)
DESCRIPTION OF SYMBOLS 10 Lifting device 11 Lift arm 21 1st cylinder 22 2nd cylinder 23 Connecting rod 41/42 Control valve (valve)
45 Controller (Control device)
51 ・ 52 Relative angle detector (detector)
55 Bucket-to-ground angle detector (second detector)
61, 62, 63 Operation lever

Claims (6)

A lift arm with a work tool attached to the tip;
A first cylinder and a second cylinder each having one end connected to the lift arm and the other end connected to the vehicle;
A valve for controlling the supply of pressure fluid to the first cylinder and the second cylinder;
Operating means for operating the valve;
A lift arm device for a work vehicle. A lift arm device in a work vehicle according to claim 1,
A detector capable of detecting a state quantity for determining the position of the work implement;
A control device that controls the valve so that the position of the work tool is calculated based on the state quantity detected by the detector and the work tool is moved in a direction corresponding to the operation direction of the operation means. When,
A lift arm device for a work vehicle. A lift arm device in a work vehicle according to claim 2,
The said control apparatus controls the said valve | bulb so that the said working tool may be moved at the speed according to the operation amount of the said operation means, The lift arm apparatus in a working vehicle characterized by the above-mentioned.   4. The lift arm device for a work vehicle according to claim 2, wherein the operation means is provided as a single unit, and both the first cylinder and the second cylinder are simultaneously operated by the operation of the operation means. A lift arm device in a work vehicle, wherein the lift arm device can be extended or retracted. A lift arm device for a work vehicle according to any one of claims 2 to 4,
A second detector for detecting the angle of the work tool, a work tool cylinder capable of changing the angle of the work tool, and an angle control valve for controlling supply of pressure fluid to the work tool cylinder,
When the position of the work tool is changed by the operation means, the control device controls the work tool cylinder so that the ground angle of the work tool is held constant based on the detection value of the second detector. A lift arm device for a work vehicle, characterized by being controlled automatically.   A work vehicle comprising the lift arm device according to any one of claims 1 to 5.

Images